JP2001164519A - Bridge-steel i-girder maintenance inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce cost by conducting operation without road regulation in the maintenance inspection operation of a road-structure bridge-steel I-girder. SOLUTION: The bridge-steel I-girder maintenance inspection device has a traveling means having a suspension means suspended from a bridge-steel I-girder lower flange and traveling by remote control, a stepped riding-across means riding across on the stepped section of a joint section for the lower flange by receiving the detecting signal of a sensor detecting the joint section, a road-widening adjusting means adjusting the width of left-right suspending sections in the arbitrary width of the lower flange, a pushing-up means pushing up the lower flange, a fall preventive means, an observing means having a mounting means for a jig for maintenance inspection at the front end of a 4-shaft operating arm being freely rotated by remote control, a monitor means monitoring a front obstruction by remote control, a transmission means transmitting a maintenance inspection result and a reception means for remote control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bridge steel I-girder for road structures or a maintenance / inspection device for general structures.

[0002]

2. Description of the Related Art Conventionally, when performing maintenance and inspection of a bridge steel I-girder on the back side of a congested road structure, road regulation is performed by closing other lanes below the maintenance and inspection road, and maintenance and inspection work is performed. For example, a person gets on a work platform or a temporary scaffold, approaches a maintenance / inspection site, and performs maintenance / inspection. Further, in a known device, there is an inspection method or the like using an inspection robot using a guide rail for an inspection robot, which is erected each time near an inspection target site, and using the guide rail as a route.

[0003]

The conventional maintenance / inspection work on heavy traffic roads may cause traffic congestion due to road regulation, so night work with relatively small traffic volume has been performed. In addition, the maintenance and inspection work must be performed at high altitudes, and must be performed constantly without being depressed by being exposed to the outside air. The so-called 3K operation (dangerous, dirty, and tight) requires maintenance and inspection. There was a problem that it led to a factor that upset the worker's life rhythm and impaired health and hygiene. In addition, nighttime road regulations include the cost of lightning equipment for alerts, the cost of lighting equipment at inspection sites, the cost of renting work vehicles, the cost of maintenance and inspection workers, and the labor cost of nighttime work such as workers at high places constructing temporary scaffolds. There was a problem such as cost increase. In addition, in the case of the robot inspection, there is a problem such as a construction cost in which a guide rail is erected near the inspection site each time. On the other hand, diversification of road obstacles including increase in the size of vehicles has been observed, and improvement of bridge maintenance / inspection work has become increasingly important from the viewpoint of road soundness and the like.

The present invention has been proposed in order to solve the above-mentioned problems. The present invention eliminates road restrictions for maintenance and inspection work, and reduces the cost of incidental equipment required by conventional maintenance and inspection methods. It is an object of the present invention to provide a maintenance / inspection device which is expected to reduce costs through efficient maintenance / inspection work and has the highest workability.

[0005]

In order to achieve the above object, a bridge steel I-girder maintenance / inspection apparatus of the present invention is provided with suspension means for suspending the bridge steel I-girder lower flange and traveling by remote control. The truck and the maintenance and
It comprises inspection means and output means for at least one of display and storage of the maintenance and inspection results.

[0006] The vehicle further comprises running means for running while hanging from a flange below the steel I-girder, and a bogie driven by remote control is provided with detecting means for detecting a joint portion of the lower flange. A step climbing means for climbing over a step at an arbitrary height of the joint portion in response to a signal; a widening adjusting means for following an arbitrary width of the lower flange; A lifting means for lifting the lower surface of the flange, and a fall prevention means at the top of the suspension of the carriage.

[0007] Further, as the maintenance and inspection means,
A four-axis work arm connected from the lower surface of the inspection device and rotatable by remote control is provided, and a maintenance / inspection jig mounting means is provided at the most advanced axis of the work arm. The bridge is provided with output means for observing cracks, corrosion, water leakage, paint peeling, etc. of the welded portion of the steel structure over time over a wide range and collecting information in real time.

In addition, a surveillance camera for remotely observing an obstacle in front and a video image observed by the surveillance camera are transmitted to a bogie which is provided with suspension means suspended from a lower flange of a steel I-girder and which is remotely operated. Means.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of a bridge steel I-girder maintenance and inspection device according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing the overall structure of a bridge steel I-girder maintenance and inspection device according to the present invention. FIG. 2 is a plan view showing a state where the bogie travels on the upper surface of the steel I-girder lower flange. FIG. 3 is a side view showing a running state of the bogie before the steel I-girder lower flange joint portion crosses a step. FIG. 4 is a side view showing a running state of the bogie while the steel I-girder lower flange joint portion is climbing over a step. 1 is a truck, 2 is a suspension unit, 3 is a drive roller elevating unit, 4 is a drive roller, 5 is an auxiliary roller, 6 is a sensor, 7 is a pressing roller, 8 is a roller, 9 is a monitoring camera for a front obstacle, 10 is 4-axis work arm, 11 for maintenance
An inspection jig, 12 is a fall prevention hook, 13 is an electric unit, 14 is an antenna, 16 is a locking portion, and A is a steel I-girder lower flange.

In FIGS. 1 and 2, the suspension units 2, 22 provided on the carriage 1 are arranged in front and rear as a pair of right and left, and a driving roller 4 (made of synthetic resin or metal) mounted on the driving roller lifting unit 3 The drive roller 4 which is formed so as to hang on the upper surface a (hatched portion) of both edges of the steel I-girder lower flange A, and is mounted on the drive roller elevating unit 3, is a drive roller with a reversible drive motor. In addition, it is formed vertically movable at the center of the suspension 2a, and is driven and controlled by wireless remote control. Auxiliary rollers 5 (made of synthetic resin or metal) are provided before and after the drive roller 4, respectively, and both the drive roller 4 and the auxiliary roller 5 have a width of both side edges a of the lower flange A within 18 mm. It is set and configured. This is based on the bridge design dimensions for avoiding the connection bolt b and the main girder reinforcement g (FIG. 5) at the joint of the lower flange A. The roller 8 is formed so as to be in contact with both edges of the lower flange and to rotate.

In FIGS. 3 and 4, the step crossing means is provided when the bogie 1 is mounted on the joint of the steel I-girder lower flange A.
In response to the detection signal of the sensor 6 provided in front of the suspension portion 2a, it passes through the vertically movable drive roller 4 at the height of the splice plate d of the lower flange joint portion c,
Then, it is formed so that it immediately returns to its original height after passing. The auxiliary rollers 5 disposed before and after the driving roller 4 are formed in advance so as to be set at the height of the design dimension of the splice plate d. In addition, sensor 6
Are disposed before and after the suspension portion 2a in consideration of the traveling of the carriage 1 in the reverse direction. The vertical movable height of the drive roller 4 is determined by the dimensional change of the steel I-girder lower flange plate thickness (10 to 10).
40 mm).

FIG. 5 is a sectional view showing a mechanism for adjusting the width of the suspension. FIG. 6 is a plan view showing the widening adjustment mechanism of the suspension unit. 2, 22 is the suspension, 2a is the upper part of the suspension, 2b
Is the lower part of the suspension. In the figure, the widening adjustment mechanism
The width of the steel I girder lower flange A has dimensional changes (width 250 to 650 mm, taper (maximum) 1/5) depending on design conditions,
The suspensions 2 and 22 are formed so as to follow the width e of the lower flange A. Therefore, constant load springs 18 and 28 are provided at the center of the support portion 16 provided on the carriage 1.
By installing the free ends 18a, 28a on the suspensions 2b, 22b, the left and right suspensions 2, 22 are constantly drawn to the center. Further, since the suspension portions 2a and 22a are formed to be rotatable about the rotation shafts 19a and 19b, the rollers 8a and 8b follow the rollers 8a and 8b along the taper e of the side edges f and h of the lower flange. I do. In addition, suspension part 2
The racks 15a, 25b are fixed to the racks b, 22b, and the racks 15a, 25b at the other ends (free ends) and the gear 17 mounted on the support 16 are engaged with each other.
a are formed to move at an equal distance. Since it is formed as described above, it travels smoothly without meandering according to the width change e of the lower flange A. Also,
The widening adjustment dimension is an area largely classified by the width e based on the design dimension of the steel I-girder flange A,
5 and the length of the constant weight springs 18 and 28 are formed to have compatibility.

Further, two pressing rollers 7 are provided above and below the bearing portion 16 of the traveling vehicle 1, and constant weight springs 21 and 31 are disposed on the bearing portion 16, and the free ends of the constant weight springs 21a and 31a are pressed. It is connected to the bearing 7a of the roller 7 and pushes up the steel I-girder lower flange A from below. This prevents slippage of the lower flange with respect to the gradient (± 1/10) of the bridge structure and adjusts overpressure from the upper surface of the drive roller 4.

Also, hooks 12a, 12b for preventing fall are provided.
The drive roller 4 and the auxiliary roller 5 provided on the suspension portions 2a, 22b are both on the upper surface a on both side edges of the steel I-girder lower flange.
When the bicycle comes off from each other, each suspension part 2
a, 22a, and is normally formed to be rotatable inward at right angles to the running direction about the system supporting portions 20a, 20b. When reaching the position of the main girder stiffener g of the steel I-girder, it is pushed by the stiffener g and swings backward, and when passing through the stiffener g, the direction is immediately restored by the spring mechanism.

FIG. 7 is a perspective view showing the state of rotation of the four-axis working arm. In the figure, a rotatable four-axis working arm 10 connected to a lower surface connecting portion B of a cart 1 is provided with a rotation motor (not shown) for each axis in the axis, and all of them are 360 ° It is rotatable. The first axis B1 rotates the connecting portion B around the axis and the second axis B2 in a horizontal plane, and the rotating portion B2a of the second axis rotates the third axis B3 and the second axis B2 in the vertical plane. And the movable part B3a of the third axis rotates the fourth axis B4 in a horizontal plane with the third axis as the axis. Therefore, the transfer in the opposite direction can be performed by the rotation of each axis. In addition, the mounting means of the maintenance / inspection jig is formed on the fourth axis B4, which is the most advanced axis, so as to be replaceable depending on the contents of the maintenance / inspection work. In addition, while traveling on the lower flange A of the steel I-girder, the vehicle 1 traveling
Stop or 4-axis work arm 10 and maintenance / inspection jig 11
Is configured to freely avoid the obstacle.
The front obstacle surveillance camera 9 is provided so as to be able to monitor back and forth freely in consideration of traveling of the carriage 1 in the reverse direction.

The cart 1 is formed in a hollow rectangular parallelepiped, and an electric unit 13 is suspended on the lower surface thereof (FIG. 1). The electric unit 13 includes a reversible drive motor for traveling, a drive motor for lifting and lowering, a motor for a four-axis working arm, a control box for controlling the sensor 6, a monitoring camera 9 for a front obstacle, and the like, and a wireless transmission / reception device. It is built in. In addition, batteries for these power sources are included. Although a battery as a power source is mounted, a power supply terminal is also provided, and external power can be supplied via a cable. In addition, a wireless control communication antenna 14 protrudes below the electric unit 13.

Further, the bridge steel I-girder maintenance / inspection device according to the present invention is divided into modules which can be carried by human power, such as the traveling vehicle 1, the suspension units 2, 22, the 4-axis work arm 10, and the electric unit 13. Have been.

FIG. 8 is a schematic view showing an example of an embodiment in which a pilot is operating a bridge steel I-girder maintenance and inspection device.
C is a road, D is a steel I-girder, and 23 is an operation panel. FIG.
FIG. 9 is an enlarged view of a part a in FIG. 8. According to FIGS.
How to use the inspection device will be described. For example, the maintenance / inspection device with the 4-axis working arm in the position shown in the figure is a steel I
Set the girder D2, and perform one bridge pier for maintenance and inspection (outbound) of the main girder and cross girder between the steel I girder D1 and D2, and when completed, then, between the steel I girder D2 and D3, With the maintenance / inspection device set on the steel I-girder D2, the four-axis working arm is swung in the opposite direction to perform maintenance / inspection in the opposite direction (return). Similarly, when the steel girder is set to the steel I girder D4, the main girder and the horizontal girder between the next inspection part steel girder D3 and D4 (outbound) and between D4 and D5 (return) can be inspected. Also,
The operator M operates the operation panel 23 equipped with a monitor, and can confirm that there is no abnormality in the target portion while observing the monitor that can be zoomed up, or can perform maintenance and inspection work on the target portion repeatedly. Since the operation panel 23 has a built-in battery, the operator M can operate while arbitrarily moving along with the movement of the target portion.

[0020]

Since the bridge steel I-girder maintenance / inspection device is configured as described above, the following effects can be obtained.

A step detecting means for detecting a joint of the lower flange of the steel I-girder, a step crossing means for crossing a step of an arbitrary height of the joint in response to a detection signal of the sensor, and an arbitrary width of the lower flange It is provided with a widening adjusting means for adjusting the width of the bridge steel and a push-up means, so that maintenance and inspection corresponding to any shape of the bridge steel I-girder lower flange structure are possible.

[0022] Further, the communication means provided on the cart,
Since it is possible to perform wireless control while observing the image of the control part, it is not necessary to perform road regulation such as closing another lane below the back of the road.

Also, the communication means provided on the cart allows
By zooming up the image of the control site, it is possible to perform maintenance and inspection with a partial focus.

Further, since there is provided a fall prevention means, there is no danger of falling and a safety inspection can be expected.

Further, the remote-controllable 4-axis working arm is
It is formed to be rotatable about four axes, and equipped with a jig for maintenance and inspection on the most advanced axis, and is formed so that it can be replaced according to the contents of maintenance and inspection work. It is possible to expect efficient work over a long period of time, and it is possible to shorten the process.

Further, since a surveillance camera for remotely observing an obstacle in front is provided, a collision with the obstacle can be avoided by the operation of the operator, and damage to the apparatus can be prevented.

Further, the main body of the maintenance / inspection device is divided into modules, such as a suspension portion, an inspection portion, and a control box, which can be easily transported by human power, and is transported through the manhole of the main girder of the steel I-girder. After the completion of one section between the piers, since it is possible to move to the next target site without lowering to the ground, efficient maintenance / inspection can be performed, and the work period can be shortened and the cost can be reduced.

Further, the maintenance and inspection results are recorded and stored on a video tape or a disk, and are used for later examination data of the target part.

The use of the present apparatus enables maintenance and inspection of bridge I-girder of road structures and steel I-girder of general structures.

As described above, the conventional maintenance / inspection work method is improved, and is useful for safety management and health management of maintenance / inspection workers.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an entire bridge steel I-girder maintenance and inspection device of the present invention.

FIG. 2 is a plan view showing a state in which the bogie is suspended on a steel I-girder lower flange upper surface.

FIG. 3 is a side view showing a traveling state of the bogie before a steel I-girder lower flange joint portion crosses a step.

FIG. 4 is a side view showing a running state of the bogie while the steel I-girder lower flange joint portion is climbing over a step.

FIG. 5 is a cross-sectional view showing a widening adjustment mechanism of a suspension part of a bridge steel I-girder maintenance / inspection device.

FIG. 6 is a plan view showing a widening adjustment mechanism of a suspension part of a bridge steel I-girder maintenance / inspection device.

FIG. 7 is a perspective view showing a rotating state of a four-axis working arm.

FIG. 8 is an example showing an embodiment in which a pilot is operating a bridge steel I-girder maintenance and inspection device.

FIG. 9 is an enlarged view of a part a in FIG. 8;

[Explanation of symbols]

 Reference Signs List 1 cart 2, 22 suspension unit 3 drive roller elevating unit 4 drive roller 5 auxiliary roller 6 sensor 7 pressing roller 8 roller 9 front obstacle monitoring camera 10 4-axis work arm 11 maintenance / inspection jig 12 fall prevention footer 13 transmission / reception Machine control box 14 Antenna 15 Rack 16 Bearing 17 Gear 18, 21 Constant load spring 23 Operation panel

Continued on the front page (72) Inventor Tomoaki Tazaki 32 Akashi-cho, Chuo-ku, Kobe City, Hyogo Prefecture Inside Machinery and Metals Division of Fuji Industries Co., Ltd. No. 5 Toyo Himek Co., Ltd. Construction Department (72) Inventor Yasuhiro Kobayashi 1-2-5 Izume-cho, Hyogo-ku, Kobe City, Hyogo Prefecture Toyo Himec Co., Ltd. Design Department (72) Inventor Kazuyuki Hiyoshi Hyogo, Kobe City, Hyogo Prefecture 1-2-5, Izumi-cho, Ward Toyo Hymec Co., Ltd. (72) Inventor Kenji Tominaga 1-2-5, Izumi-cho, Hyogo-ku, Kobe-shi, Hyogo F-term (reference) 2D059 AA07 EE02 GG39

Claims (7)

[Claims] 1. A truck driven by remote control means having a traveling means suspended from a lower flange of a bridge steel I-girder, driven by a remote control means, a step-over means, a widening adjustment means, a push-up means, A fall prevention unit, a front obstacle monitoring unit driven by the remote operation unit, a four-axis working arm including a maintenance / inspection jig mounting unit and driven by the remote operation unit,
A bridge steel I-girder maintenance / inspection device comprising: a means for outputting an inspection result of the maintenance / inspection jig. 2. A suspension section suspended from a lower flange of a bridge steel I-girder, comprising: a traveling means capable of being reversibly rotatable by remote control; a driving roller elevating means; and a detecting means for detecting the lower flange joint. 2. The bridge steel I-girder maintenance / inspection device according to claim 1, further comprising a step climbing means for climbing over a step at an arbitrary height of the lower flange joint portion in response to a detection signal of the means. 3. A suspension section of a bogie traveling on a bridge steel I-girder lower flange, provided with a roller that rolls in contact with a side surface of the lower flange, and adjusts the inner width of the left and right suspension sections to the lower flange. The bridge steel I-girder maintenance / inspection apparatus according to claim 1, further comprising a widening adjusting means for adjusting the width to an arbitrary width. 4. The bridge steel according to claim 1, further comprising: a pressing roller provided on an upper surface of a central portion of the bogie which runs suspended from the lower flange of the bridge steel I-girder, and a push-up means for lifting a lower surface of the lower flange. I-digit maintenance and inspection equipment. 5. The bridge steel I-girder maintenance / inspection device according to claim 1, further comprising means for preventing the bogie from dropping, in a suspension portion of the bogie traveling on the lower flange of the bridge steel I-girder. 6. A four-axis work arm rotatable by remote control is provided on the lower surface of a bogie traveling on a bridge steel I-girder lower flange, and a maintenance / inspection is provided at the foremost axis of said four-axis work arm. The bridge steel I-girder maintenance and inspection device according to claim 1, further comprising a jig mounting means. 7. A surveillance camera for remotely observing an obstacle ahead of the vehicle, which is suspended on both sides of a bogie traveling on the bridge steel I-girder lower flange, transmitting means for transmitting an image of the surveillance camera; Output means for displaying or storing at least one of maintenance / inspection results by a maintenance / inspection jig mounted on the axis operation arm, and a cart driven by remote operation means, a monitoring camera, and a four-axis operation arm The bridge steel I-girder maintenance and inspection device according to claim 1 or 6, further comprising a receiving means.